This article addresses the issues of colour classification and collision de- tection as they occur in the legged league robot soccer environment of RoboCup. We show how the method of one-class classification with sup- port vector machines (SVMs) can be applied to solve these tasks satisfac- torily using the limited hardware capacity of the prescribed Sony AIBO quadruped robots. The experimental evaluation shows an improvement over our previous methods of ellipse fitting for colour classification and the statistical approach used for collision detection.

Nonlinear (cid:12)ltering can solve very complex problems, but typically involve very time consuming calculations. Here we show that for (cid:12)lters that are constructed as a RBF network with Gaussian basis functions, a decomposition into linear (cid:12)lters exists, which can be computed e(cid:14)ciently in the frequency domain, yielding dramatic improvement in speed. We present an application of this idea to image processing. In electron micrograph images of photoreceptor terminals of the fruit (cid:13)y, Drosophila, synaptic vesicles containing neurotransmitter should be detected and labeled automatically. We use hand labels, provided by human experts, to learn a RBF (cid:12)lter using Support Vector Regression with Gaussian kernels.

Many classification algorithms, including the support vector machine, boosting and logistic regression, can be viewed as minimum contrast methods that minimize a convex surrogate of the 0-1 loss function. We characterize the statistical consequences of using such a surrogate by pro- viding a general quantitative relationship between the risk as assessed us- ing the 0-1 loss and the risk as assessed using any nonnegative surrogate loss function. We show that this relationship gives nontrivial bounds un- der the weakest possible condition on the loss function--that it satisfy a pointwise form of Fisher consistency for classification. The relationship is based on a variational transformation of the loss function that is easy to compute in many applications. We also present a refined version of this result in the case of low noise.

This paper is about non-approximate acceleration of high dimensional nonparametric operations such as k nearest neighbor classifiers and the prediction phase of Support Vector Machine classifiers. We attempt to exploit the fact that even if we want exact answers to nonparametric queries, we usually do not need to explicitly find the datapoints close to the query, but merely need to ask questions about the properties about that set of datapoints. This offers a small amount of computational lee- way, and we investigate how much that leeway can be exploited. For clarity, this paper concentrates on pure k-NN classification and the pre- diction phase of SVMs. We introduce new ball tree algorithms that on real-world datasets give accelerations of 2-fold up to 100-fold compared against highly optimized traditional ball-tree-based k-NN.

The decision functions constructed by support vector machines (SVM's) usually depend only on a subset of the training set--the so-called support vectors. We derive asymptotically sharp lower and upper bounds on the number of support vectors for several standard types of SVM's. In par- ticular, we show for the Gaussian RBF kernel that the fraction of support vectors tends to twice the Bayes risk for the L1-SVM, to the probability of noise for the L2-SVM, and to 1 for the LS-SVM.

Kernel-based methods are widely being used for data modeling and prediction because of their conceptual simplicity and outstanding performance on many real-world tasks. The support vector machine (SVM) is a well known algorithm for finding kernel-based linear classifiers with maximal margin [7]. The kernel trick can be used to provide an effective method to deal with very high dimensional feature spaces as well as to model complex in- put phenomena via embedding into inner product spaces. However, despite generalization error being upper bounded by a function of the margin of a linear classifier, it is notoriously difficult to implement such classifiers efficiently.

In this paper we show that it is possible to model sensory impressions of consumers about beef meat. This is not a straightforward task; the reason is that when we are aiming to induce a function that maps object descriptions into ratings, we must consider that consumers' ratings are just a way to express their preferences about the products presented in the same testing session. Therefore, we had to use a special purpose SVM polynomial kernel. The training data set used collects the ratings of panels of experts and consumers; the meat was provided by 103 bovines of 7 Spanish breeds with different carcass weights and aging periods. Additionally, to gain insight into consumer preferences, we used feature subset selection tools.

We devise and experiment with a dynamical kernel-based system for tracking hand movements from neural activity. The state of the system corresponds to the hand location, velocity, and acceleration, while the system's input are the instantaneous spike rates. The system's state dy- namics is defined as a combination of a linear mapping from the previous estimated state and a kernel-based mapping tailored for modeling neural activities. In contrast to generative models, the activity-to-state mapping is learned using discriminative methods by minimizing a noise-robust loss function. We use this approach to predict hand trajectories on the basis of neural activity in motor cortex of behaving monkeys and find that the proposed approach is more accurate than both a static approach based on support vector regression and the Kalman filter. The paper focuses on the problem of tracking hand movements, which constitute smooth spatial trajectories, from spike trains of a neural population. We do so by devising a dynam- ical system which employs a tailored kernel for spike trains along with a linear mapping corresponding to the states' dynamics.

This paper proposes a method for computing fast approximations to sup- port vector decision functions in the field of object detection. In the present approach we are building on an existing algorithm where the set of support vectors is replaced by a smaller, so-called reduced set of syn- thesized input space points. In contrast to the existing method that finds the reduced set via unconstrained optimization, we impose a structural constraint on the synthetic points such that the resulting approximations can be evaluated via separable filters. For applications that require scan- ning large images, this decreases the computational complexity by a sig- nificant amount. Experimental results show that in face detection, rank deficient approximations are 4 to 6 times faster than unconstrained re- duced set systems.

We establish learning rates to the Bayes risk for support vector machines (SVMs) with hinge loss. In particular, for SVMs with Gaussian RBF kernels we propose a geometric condition for distributions which can be used to determine approximation properties of these kernels. Finally, we compare our methods with a recent paper of G. Blanchard et al..